Potted vegetables double self-locking grasping and shearing integrated manipulator

Abstract

The invention provides a double-self-locking manipulator integrating grabbing and shearing functions for potted vegetables. The manipulator comprises a screw gear motor, a pushing rod, a rocker, scissor blade bracket connecting rods, a first mechanical finger, a second mechanical finger, a first scissor blade bracket and a second scissor blade bracket. The inversely F-shaped pushing rod comprisesan inner gear ring hole, a middle cross rod and a bottom cross rod; the second mechanical finger is hinged to the first mechanical finger, and the first scissor blade bracket and the second scissor blade bracket are horizontally and rotatably connected to the first mechanical finger in an X shape; a screw rod of the screw rod gear motor is in accordant connection with the inner gear ring hole, themiddle cross rod is rotatably connected with the second mechanical finger through the rocker, and the rocker is positioned below the middle cross rod; the bottom cross rod is connected with the two scissor blade bracket connecting rods to form a horizontal Y-shaped sliding block rocker mechanism, and the end parts of the Y-shaped sliding block rocker mechanism are hinged to the end parts of the first scissor blade bracket and second scissor blade bracket respectively. The manipulator is compact in structure and has two functions of grabbing a culture medium and shearing vegetable rhizomes.

Description

technical field [0001] The invention belongs to the technical field of agricultural robot equipment, and in particular relates to a double self-locking grasping and shearing integrated manipulator for potted vegetables. Background technique [0002] The development of robotics, artificial intelligence, Internet of Things, big data and cloud computing technology promotes the rapid development of intelligent agricultural machinery, and the individualization and large-scale planting of vegetables also increasingly require the automation and intelligence of harvesting machinery. Each potted vegetable or each clump of vegetables is planted in a uniform medium. The potted vegetable harvesting manipulator is an important part of the vegetable harvesting robot. [0003] Harvesting of vegetables requires grasping and moving the culture medium, and after the vegetables are taken out, the roots of the vegetables need to be cut. Existing vegetable harvesting manipulators usually only h...

AI Technical Summary

Problems solved by technology

[0006] Patent document CN108476737A discloses a fruit and vegetable picking manipulator, which can grab and cut fruits and vegetables at the same time, but manual operation is adopted, and the force direction cannot match the load direction;

[0007] Patent document CN108934440A discloses an underactuated finger mechanism and a rod-shaped fruit and vegetable gripping picking robot end effector, which can grasp and cut, but is driven by a cam and a complex hinge, and the direction of the finger force does not match the direction of the load force.

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